DK3676057T3 - Robot og metode til hentning af et ønskeemne - Google Patents

Robot og metode til hentning af et ønskeemne Download PDF

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Publication number
DK3676057T3
DK3676057T3 DK18755849.9T DK18755849T DK3676057T3 DK 3676057 T3 DK3676057 T3 DK 3676057T3 DK 18755849 T DK18755849 T DK 18755849T DK 3676057 T3 DK3676057 T3 DK 3676057T3
Authority
DK
Denmark
Prior art keywords
picking
robot
wish item
wish
item
Prior art date
Application number
DK18755849.9T
Other languages
English (en)
Inventor
Thomas Martin Klinge
Kristian Kassow
Original Assignee
Movebot Aps
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Movebot Aps filed Critical Movebot Aps
Application granted granted Critical
Publication of DK3676057T3 publication Critical patent/DK3676057T3/da

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)
DK18755849.9T 2017-08-31 2018-08-24 Robot og metode til hentning af et ønskeemne DK3676057T3 (da)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP17188842 2017-08-31
EP17203274 2017-11-23
PCT/EP2018/072920 WO2019042898A1 (en) 2017-08-31 2018-08-24 ROBOT AND METHOD FOR RECOVERING TARGET ARTICLE

Publications (1)

Publication Number Publication Date
DK3676057T3 true DK3676057T3 (da) 2022-01-10

Family

ID=63244623

Family Applications (1)

Application Number Title Priority Date Filing Date
DK18755849.9T DK3676057T3 (da) 2017-08-31 2018-08-24 Robot og metode til hentning af et ønskeemne

Country Status (5)

Country Link
US (1) US11279556B2 (da)
EP (1) EP3676057B1 (da)
CN (1) CN111315542B (da)
DK (1) DK3676057T3 (da)
WO (1) WO2019042898A1 (da)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11273947B2 (en) * 2018-06-25 2022-03-15 Invia Robotics, Inc. Container with alignment correcting end for misaligned placement with a displacing robotic element
CN209160601U (zh) * 2018-09-07 2019-07-26 深圳市海柔创新科技有限公司 一种搬运机器人
NO345595B1 (en) * 2018-09-28 2021-05-03 Pickr As System and method for automated storage, picking, and packing of items
JP2020168679A (ja) * 2019-04-03 2020-10-15 セイコーエプソン株式会社 ロボットシステム及び撮像方法
TWI721865B (zh) * 2020-04-17 2021-03-11 騰升科技股份有限公司 堆疊排齊設備及其排齊的方法
JP2022124849A (ja) * 2021-02-16 2022-08-26 トヨタ自動車株式会社 搬送システム及び搬送方法

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1001645B (de) * 1952-09-12 1957-01-24 Donald Mayer King Foerdervorrichtung zum Wegfuehren eines bestimmten Lastenstueckes aus einem Stapel
US3187917A (en) 1962-01-15 1965-06-08 Wendell S Miller Industrial truck with load supporting members for handling a plurality of stacked articles
US3447697A (en) 1966-04-04 1969-06-03 Whiting Corp Article handling apparatus
US4252497A (en) * 1977-08-22 1981-02-24 Heico Inc. Article handling system
DE4224836C1 (de) * 1992-07-28 1993-11-04 Ruediger Staege Blocklagerfoerderzeug fuer zu transportierende paletten in einem palettenlager
DE19959285B4 (de) * 1999-12-09 2008-01-31 J. Schmalz Gmbh Vakuum-Greifsystem zum Greifen eines Objekts und Handhabungsgerät zum Handhaben eines Objekts mit Hilfe eines Vakuum-Greifsystems
JP2002211747A (ja) * 2001-01-15 2002-07-31 Murata Mach Ltd コンベヤ装置
DE102006022278A1 (de) * 2006-05-11 2007-11-15 Deutsche Post Ag Greifsystem für gestapeltes Stückgut
DE102007052012A1 (de) * 2007-10-31 2009-05-07 Grenzebach Maschinenbau Gmbh Verfahren und Vorrichtung zum Erfassen und Umladen von Gepäckstücken
US8651794B2 (en) * 2010-04-22 2014-02-18 Siemens Industry, Inc. Automated bed-loaded container unloader and method
CN102910559B (zh) * 2011-08-01 2015-06-10 常州远量机器人技术有限公司 一种用于仓储物流***的堆垛设备
CA2895282C (en) * 2013-01-20 2017-07-11 Wynright Corporation Automated truck unloader for unloading/unpacking product from trailers and containers
US9315345B2 (en) * 2013-08-28 2016-04-19 Intelligrated Headquarters Llc Robotic carton unloader
BR112015028738A2 (pt) * 2013-05-17 2017-07-25 Intelligrated Headquarters Llc descarregador de embalagem robótico para descarregar uma pilha de embalagens
US9650215B2 (en) * 2013-05-17 2017-05-16 Intelligrated Headquarters Llc Robotic carton unloader
DE102013019419A1 (de) 2013-11-20 2015-05-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Fahrzeug und Verfahren zur Durchführung von Lageraktionen mit Lagereinheiten

Also Published As

Publication number Publication date
CN111315542B (zh) 2023-04-11
WO2019042898A1 (en) 2019-03-07
US20200189845A1 (en) 2020-06-18
CN111315542A (zh) 2020-06-19
EP3676057B1 (en) 2021-10-13
EP3676057A1 (en) 2020-07-08
US11279556B2 (en) 2022-03-22

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